CN116330263A - Intelligent industrial robot platform implementation method based on Codesys - Google Patents
Intelligent industrial robot platform implementation method based on Codesys Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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Abstract
The invention relates to a method for realizing an intelligent industrial robot platform based on Codesys, which comprises the following steps: the demonstrator acquires control information input by a user and sends the control information to the controller software system; the controller software system obtains the instruction of a user or receives the control information of the demonstrator through the Codesys, and the robot state information fed back from the controller hardware system is processed in a split control mode to obtain a motion control instruction; displaying a motion control instruction and robot state information; the controller hardware system acquires the motion control instruction motion sent by the controller software system and feeds back the state information of the robot to the controller software system. The invention can realize motion control and simulation, and is realized by an automation software CODSYS, comprising a motion control program and a simulation module. The experiment and programming results show that the system has good operation, practicability and reliability.
Description
Technical Field
The invention relates to the fields of intelligent manufacturing, automatic control and industrial robot platforms, in particular to a method for realizing an intelligent industrial robot platform based on Codesys.
Background
CODESYS (Controlled Development System) is a powerful PLC software programming tool, which is marketed by the German codesys group. The method has a complete PLC development environment, and can realize a whole set of process from PLC programming to final products. The device can realize basic PLC logic control and shaft motion control. And constructing an intelligent industrial robot controller research and development platform by taking Codesys as a development environment, wherein the intelligent industrial robot controller research and development platform is optimized in the original controller platform module algorithm and software architecture.
The existing intelligent industrial robot platform usually adopts different operation platforms and systems, but cannot realize the unification of hardware and software, so that development algorithms are not universal and are not suitable for cooperative development of all various robot manufacturers.
Disclosure of Invention
The invention aims to provide a method for realizing an intelligent industrial robot platform based on Codesys, which aims to overcome the defects of the platform.
The technical scheme adopted by the invention for achieving the purpose is as follows: an intelligent industrial robot platform based on Codesys, comprising:
the demonstrator is used for acquiring control information input by a user and sending the control information to the controller software system;
the controller software system is used for obtaining instructions of a user or receiving control information of the demonstrator through Codes and robot state information fed back from the controller hardware system, processing the instructions in a split-core control mode to obtain motion control instructions and displaying the motion control instructions and the robot state information;
and the controller hardware system is used for acquiring the motion control instruction motion sent by the controller software system and feeding back the state information of the robot to the controller software system.
The controller software system includes:
the HMI is used for receiving the instruction of the user or acquiring the control information of the demonstrator, triggering the corresponding working procedure, and sending the working procedure to the single-core processor so that the plurality of single-core processors process the working procedure in a mode of split-core control;
each single-core processor is used for running one of a motion control algorithm, a robot algorithm, robot task allocation and robot reference, and acquiring information comprising robot variables and communication modes through data interaction with a shared memory;
the algorithm library is used for storing robot algorithms, and comprises at least one algorithm module of a robot model, a robot language, track planning, a navigation algorithm and force control;
and the RSP communication layer is used for providing a motion control algorithm, acquiring the position and the speed of the robot through the single-core processor and transmitting the position and the speed to the robot controller so as to complete the motion control of the platform.
The robot variables include IO variables, robot position, joint values, speed, torque values, and other sensor information.
The plurality of single-core processors includes:
the first single-core processor is used for calling a motion control algorithm of the RSP communication layer and a robot algorithm in an algorithm library to obtain the position and the speed of the robot for the robot with tasks, and sending the position and the speed of the robot to the robot controller through the RSP communication layer so as to realize motion control of the robot;
the second single-core processor is used for calling an algorithm module in an algorithm library and a motion control algorithm of the RSP communication layer for the robot distributed with tasks to obtain an output value of the algorithm module as a control quantity, and sending the control quantity to a robot controller through the RSP communication layer so as to finish the application function of the robot;
the third single-core processor is used for decomposing the working procedure into tasks, carrying out robot task allocation, and sending allocation results to the first single-core processor and the second single-core processor for calculating the position, the speed and the control quantity of the robot;
and the fourth single-core processor is used for the robot reference, namely the custom task, and sending the robot reference to the first single-core processor and the second single-core processor.
The shared memory is used for storing system files, robot variables and communication mode information.
A method for realizing an intelligent industrial robot platform based on Codesys comprises the following steps:
the demonstrator acquires control information input by a user and sends the control information to the controller software system;
the controller software system obtains the instruction of a user or receives the control information of the demonstrator through the Codesys, and the robot state information fed back from the controller hardware system is processed in a split control mode to obtain a motion control instruction; displaying a motion control instruction and robot state information;
the controller hardware system acquires the motion control instruction motion sent by the controller software system and feeds back the state information of the robot to the controller software system.
The controller software system performs the steps of:
the HMI receives the instruction of the user or acquires the control information of the demonstrator, triggers corresponding working procedures, and sends the working procedures to the single-core processor so that the plurality of single-core processors process the working procedures in a mode of split control;
the single-core processors respectively run one of motion control, robot algorithm, robot task allocation and robot reference, and acquire information containing robot variables and communication modes through data interaction with the shared memory;
the RSP communication layer obtains the position and the speed of the robot through the single-core processor and sends the position and the speed to the robot controller so as to complete the motion control of the platform.
The plurality of single-core processors includes:
the first single-core processor obtains the position and the speed of the robot by calling a motion control algorithm of the RSP communication layer and a robot algorithm in an algorithm library, and sends the position and the speed to a robot controller through the RSP communication layer so as to realize motion control of the robot;
the second single-core processor calls an algorithm module in an algorithm library and a motion control algorithm of the RSP communication layer to obtain an output value of the algorithm module as a control quantity, and the output value is sent to the robot controller through the RSP communication layer so as to complete the application function of the robot;
the third single-core processor decomposes the working procedure into tasks, performs robot task allocation, and sends allocation results to the first single-core processor and the second single-core processor for calculating the position, the speed and the control quantity of the robot;
and the fourth single-core processor sends the self-defined task to the first single-core processor and the second single-core processor through the robot reference.
A method for realizing an intelligent industrial robot platform based on Codesys comprises the following steps:
the demonstrator acquires control information input by a user and sends the control information to the controller software system;
the controller software system obtains a user instruction through Codes or receives control information of a demonstrator and robot state information fed back from a controller hardware system, processes the control information in a kernel-splitting control mode to obtain a motion control instruction, and displays the motion control instruction and the robot state information;
the controller hardware system acquires the motion control instruction motion sent by the controller software system and feeds back the state information of the robot to the controller software system.
The invention has the following beneficial effects and advantages:
(1) Providing basic functional functions for the robotic system. Comprising the following steps: 1) The robot service platform isolates the robot system from the operating system and realizes a basic bus protocol stack (RSP communication layer) and a data tool; 2) And the robot algorithm library realizes the related algorithm functions of the robot arm and the chassis.
(2) The industrial and service robots support standard ROS-I functional interfaces and simulation models, are shown in fig. 1 and are positioned in a communication layer (which is a part of RSP), can quickly interface with a source algorithm, construct an open control system, analyze algorithm principles and implementation mechanisms by using an advanced source algorithm, finally transplant algorithm functions and expand an algorithm library.
(3) the differences of hardware/operating systems among different robots in functions, interfaces and using modes are solved;
(4) The intelligent industrial robot platform software based on Codesys comprises a hardware system and a software system. The control system can realize motion control and simulation (simulation at human-machine interaction layer HMI). The hardware system consists of a parallel robot body, an embedded industrial computer, a servo drive and motor system, an EtherCAT module, an I/O module and the like. The software system is implemented by an automation software codec sys, comprising a motion control program and a simulation module. The experiment and programming results show that the system has good operation, practicability and reliability.
Drawings
FIG. 1 is a system frame diagram of the present invention;
FIG. 2 is a schematic diagram of the overall architecture of the CODESYS;
FIG. 3 is a schematic diagram of a platform software shelf based on a Codesys system;
FIG. 4 is a block diagram of a two-channel intelligent industrial robot platform based on Codesys.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, a two-channel intelligent industrial robot platform block diagram based on Codesys is shown, and the intelligent industrial robot platform is a new type of robot controller product and belongs to a core module in the robot market. Multiple PLC programming languages (IL ST LD SFC CFC FBD) are supported, multiple field buses (ETHERCAT, CANOPEN and the like) are supported, multiple PLC tasks are supported, and powerful IO expansion is integrated. The product meets the harsh requirement on the motion precision of the whole mechanical structure, avoids the failure of standard precision caused by the accumulation of errors of a plurality of motion units, and greatly improves the operation positioning precision.
The intelligent industrial robot platform software design method based on the Codesys can optimize the controller platform software architecture, perfects the component library of the platform and expands the functions of the control bus.
1. Data stream interactions
A real-time control mode is adopted for an intelligent industrial robot controller software system based on Codes so as to ensure the accuracy of motion control. The MES system performs information interaction of data flow with the intelligent industrial robot controller by means of Ethernet communication. The robot related data related variables are used as inputs of an MES system, and the MES system receives data through the Ethernet and analyzes the data. The controller software system and the demonstrator adopt serial communication, and the serial communication is more reliable than the traditional Ethernet communication data transmission. Although the serial communication data transmission distance is short, the connection distance between the teaching box and the robot can be met, so that the serial communication mode which is the most stable communication mode is adopted. The intelligent industrial robot controller software based on Codesys can coordinate the differences of different robots in functions, interfaces and using modes. To ensure normal communication of the robot.
2. Nuclear separation control mode
Traditional industrial software control is controlled by a single core, and the patent adopts the content of a 'split core control mode', so that different tasks are divided according to functions. Depending on the type of task assigned, what kernel is running. For example, motion control employs kernel-first control; the robot algorithm is controlled by a second kernel; the robot task allocation is controlled by a core III; the robot refers to the core IV for control. And so on. The system file and the related variable of the robot interact data in a mode of network communication and the like by adopting a shared memory mode so as to realize complete decoupling of functions. The key information of the robot which needs to be communicated can be extracted, and data interaction and monitoring are facilitated.
3. Robot platform software
FIG. 3 is a schematic diagram of a system platform software shelf technology based on Codes, which is a bus program mainly used for providing stability and reliability to meet the standard in an intelligent industrial robot software platform. Based on the Codesys system platform software shelf technology, codesys provides a wide range of fieldbus support such as EtherCAT, CANopen, profibus, profinet, modbus, etherNet/IP. By means of the bus technology of Codesys and the software shelf technology of the patent, a set of perfect intelligent industrial robot platform software can be formed. The shelf technology of the intelligent industrial robot platform software comprises a robot platform, a software algorithm and an RSP layer. The algorithm library comprises: robot model, robot language, trajectory planning, navigation algorithm, and force control. The RSP layer relies primarily on the Codesys' own bus components. The intelligent industrial platform software can perform industrial robot control and service robot control.
As shown in fig. 2, the CODESYS generally includes a host development system and a run time running on a hardware device. Wherein MainTask is the primary task for controlling the robot. The other two are tasks carried by the system. The softmotion_planning task is automatically generated for motion planning forward and backward solutions when an axis group is added. The control schedule for the visual interface is generated when the view interface is added at the VISU TASK. The MainTask task execution module can be added in a dragging PLC module mode. Tasks are added at will and support scheduling periods and priority configurations. Note that the scheduling interval of the threads controlling the robot needs to be consistent with the robot bus cycle.
As shown in fig. 4, which is a connection block diagram of the intelligent industrial robot platform and the peripheral system, the whole robot control software system functions as follows:
Robot Standard
re-carding the standard function of the robot to finish basic function and index test, and version shaping- > robot operation instruction & specification
By means of kernel-based control
Binding the independent functional modules to separate CPUs, the maximum load, time base and possible cycle time can be set separately for each core; and the independent modules perform data interaction in the modes of sharing data, system files, network communication and the like, so that the complete decoupling of functions is realized.
Robot Options
Communication protocol standardization, polishing process software, assembly process software- > robot process specification
Robot Language
Upgrade instruction system architecture and instruction set, support secondary development to a certain extent- > robot programming instruction book
Robot Safety
Adding collaborative robot security functionality according to ISO-15066
Operating system
Real-time operating system for wind river by adopting E3845 controller
ROS control system
The ROS is used as a planning controller to carry out complex operation, the SNRC controller is used as an execution controller to control in real time, a standard ROS-I interface is realized, a robot simulation model is provided, and a remote PC is used as a three-dimensional simulation UI.
4. Cubic spline
In order to improve the tracking precision of the tail end track of the robot, the number of nodes is increased on the path by linear arc interpolation, so that the online calculated amount and the space storage amount are large, and the efficiency is low. Spline interpolation reasonably designs speed, acceleration and jerk, can realize stable motion of the robot, but can not describe a free curve. Therefore, a curve interpolation function that can improve real-time performance and describe a free curve is added to the robot control system.
Numerical control technology and equipment are important bases for modern industrial manufacturing modernization, and one main development direction of numerical control technology is high-speed and high-precision machining. In the development of numerical control technology, an interpolation algorithm and speed control are main factors directly influencing processing speed and accuracy, wherein Non-uniform rational B-spline (NURBS) curve interpolation technology has become a necessary capability of a high-end numerical control system. In order to achieve that the end effector of the interpolation stage can smoothly pass through all processing points, a NURBS curve interpolation algorithm based on a speed look-ahead is presented herein.
5. Codesys system
The specific functions of the code sys motion control are realized through function blocks, and are mainly divided into two types: smc_functional block: there is a 3S company defined motion control function. Mc_function block: motion function block defined by PLCopen.
Claims (9)
1. An intelligent industrial robot platform based on Codesys, comprising:
the demonstrator is used for acquiring control information input by a user and sending the control information to the controller software system;
the controller software system is used for obtaining instructions of a user or receiving control information of the demonstrator through Codes and robot state information fed back from the controller hardware system, processing the instructions in a split-core control mode to obtain motion control instructions and displaying the motion control instructions and the robot state information;
and the controller hardware system is used for acquiring the motion control instruction motion sent by the controller software system and feeding back the state information of the robot to the controller software system.
2. The Codesys-based intelligent industrial robot platform as defined in claim 1, wherein said controller software system comprises:
the HMI is used for receiving the instruction of the user or acquiring the control information of the demonstrator, triggering the corresponding working procedure, and sending the working procedure to the single-core processor so that the plurality of single-core processors process the working procedure in a mode of split-core control;
each single-core processor is used for running one of a motion control algorithm, a robot algorithm, robot task allocation and robot reference, and acquiring information comprising robot variables and communication modes through data interaction with a shared memory;
the algorithm library is used for storing robot algorithms, and comprises at least one algorithm module of a robot model, a robot language, track planning, a navigation algorithm and force control;
and the RSP communication layer is used for providing a motion control algorithm, acquiring the position and the speed of the robot through the single-core processor and transmitting the position and the speed to the robot controller so as to complete the motion control of the platform.
3. The intelligent industrial robot platform based on Codesys according to claim 1, wherein the robot variables include IO variables, robot position, joint values, speed, torque values and other sensor information.
4. The Codesys-based intelligent industrial robot platform as claimed in claim 1, wherein the plurality of single-core processors comprises:
the first single-core processor is used for calling a motion control algorithm of the RSP communication layer and a robot algorithm in an algorithm library to obtain the position and the speed of the robot for the robot with tasks, and sending the position and the speed of the robot to the robot controller through the RSP communication layer so as to realize motion control of the robot;
the second single-core processor is used for calling an algorithm module in an algorithm library and a motion control algorithm of the RSP communication layer for the robot distributed with tasks to obtain an output value of the algorithm module as a control quantity, and sending the control quantity to a robot controller through the RSP communication layer so as to finish the application function of the robot;
the third single-core processor is used for decomposing the working procedure into tasks, carrying out robot task allocation, and sending allocation results to the first single-core processor and the second single-core processor for calculating the position, the speed and the control quantity of the robot;
and the fourth single-core processor is used for the robot reference, namely the custom task, and sending the robot reference to the first single-core processor and the second single-core processor.
5. The intelligent industrial robot platform based on Codesys according to claim 1, wherein the shared memory is used for storing system files, robot variables, and communication mode information.
6. The method for realizing the intelligent industrial robot platform based on the Codesys is characterized by comprising the following steps of:
the demonstrator acquires control information input by a user and sends the control information to the controller software system;
the controller software system obtains the instruction of a user or receives the control information of the demonstrator through the Codesys, and the robot state information fed back from the controller hardware system is processed in a split control mode to obtain a motion control instruction; displaying a motion control instruction and robot state information;
the controller hardware system acquires the motion control instruction motion sent by the controller software system and feeds back the state information of the robot to the controller software system.
7. The method for implementing a Codesys-based intelligent industrial robot platform according to claim 6, wherein the controller software system performs the steps of:
the HMI receives the instruction of the user or acquires the control information of the demonstrator, triggers corresponding working procedures, and sends the working procedures to the single-core processor so that the plurality of single-core processors process the working procedures in a mode of split control;
the single-core processors respectively run one of motion control, robot algorithm, robot task allocation and robot reference, and acquire information containing robot variables and communication modes through data interaction with the shared memory;
the RSP communication layer obtains the position and the speed of the robot through the single-core processor and sends the position and the speed to the robot controller so as to complete the motion control of the platform.
8. The method for implementing the intelligent industrial robot platform based on Codesys according to claim 6, wherein the method comprises the following steps: the plurality of single-core processors includes:
the first single-core processor obtains the position and the speed of the robot by calling a motion control algorithm of the RSP communication layer and a robot algorithm in an algorithm library, and sends the position and the speed to a robot controller through the RSP communication layer so as to realize motion control of the robot;
the second single-core processor calls an algorithm module in an algorithm library and a motion control algorithm of the RSP communication layer to obtain an output value of the algorithm module as a control quantity, and the output value is sent to the robot controller through the RSP communication layer so as to complete the application function of the robot;
the third single-core processor decomposes the working procedure into tasks, performs robot task allocation, and sends allocation results to the first single-core processor and the second single-core processor for calculating the position, the speed and the control quantity of the robot;
and the fourth single-core processor sends the self-defined task to the first single-core processor and the second single-core processor through the robot reference.
9. The method for realizing the intelligent industrial robot platform based on the Codesys is characterized by comprising the following steps of:
the demonstrator acquires control information input by a user and sends the control information to the controller software system;
the controller software system obtains a user instruction through Codes or receives control information of a demonstrator and robot state information fed back from a controller hardware system, processes the control information in a kernel-splitting control mode to obtain a motion control instruction, and displays the motion control instruction and the robot state information;
the controller hardware system acquires the motion control instruction motion sent by the controller software system and feeds back the state information of the robot to the controller software system.
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| CN117354208A (en) * | 2023-09-28 | 2024-01-05 | 广州翼辉信息技术有限公司 | CI/CD-based automatic test method and system for CODESYS bus protocol stack |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117354208A (en) * | 2023-09-28 | 2024-01-05 | 广州翼辉信息技术有限公司 | CI/CD-based automatic test method and system for CODESYS bus protocol stack |
| CN117354208B (en) * | 2023-09-28 | 2024-04-16 | 广州翼辉信息技术有限公司 | Automatic CODESYS bus protocol stack testing method and system based on CI/CD |
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